[vzoli]

I'm not sure what do you mean but "Altitude modes" (AltitudeHold and AltitudeVario) do not prevent from position drift, it just maintain altitude.

Please post your config file. File > Export UAV settings...

Sorry, not altitude i meant attitude (stabilized) mode.

[f5soh]

INS13 uses all sensors for Attitude estimation, if something wrong the Attitude is not perfect as Complementary that simply uses Gyro/Accelerometers.
Please post your config file. File > Export UAV settings...

[vzoli]

INS13 uses all sensors for Attitude estimation, if something wrong the Attitude is not perfect as Complementary that simply uses Gyro/Accelerometers.
Please post your config file. File > Export UAV settings...

okay
Now im home
attached the uav file

[vzoli]

INS13 uses all sensors for Attitude estimation, if something wrong the Attitude is not perfect as Complementary that simply uses Gyro/Accelerometers.
Please post your config file. File > Export UAV settings...

okay
Now im home
attached the uav file

Hi,
Did you found something strange in config file?

[f5soh]

Sorry, miss the post.

Nothing wrong, except the GPSSettings > UbxRate set to 25Hz, should be 10Hz max for Neo7
Also the home altitude that should be around 165m + Geoid, not 5m.
Go to the Attitude tab and hit button erase and keep the board populating the Home coordinates.

[vzoli]

Sorry, miss the post.

Nothing wrong, except the GPSSettings > UbxRate set to 25Hz, should be 10Hz max for Neo7
Also the home altitude that should be around 165m + Geoid, not 5m.
Go to the Attitude tab and hit button erase and keep the board populating the Home coordinates.

Thank you. But then why whant to go the copter south?
I calibrated the mag relating the sun with no compass. Somewhere i read that must calibrate point to real magnetic north so not paralell with ground but about 60° down to point directly to north pole.
Is it true?

[f5soh]

From online help that refers to the individuals steps:

Note 2: There is no need to align the airframe exactly south, north, east or west during the individual steps. The directions indicated serve only to tell you in which direction the airframe should be positioned relative to some point.  One can simply assume that North is in front of you, East is to the right, West is to the left and South is pointing at you.

No need to point the exact North orientation, or know the current declination.
For calibration you can validate the first 5 steps (while the frame do not move and mag free disturbed) and next rotate the frame on all axis to cover all 3D space, like the calibration dance.
Finally validate the last step and save your calibration.

[vzoli]

From online help that refers to the individuals steps:

Note 2: There is no need to align the airframe exactly south, north, east or west during the individual steps. The directions indicated serve only to tell you in which direction the airframe should be positioned relative to some point.  One can simply assume that North is in front of you, East is to the right, West is to the left and South is pointing at you.

No need to point the exact North orientation, or know the current declination.
For calibration you can validate the first 5 steps (while the frame do not move and mag free disturbed) and next rotate the frame on all axis to cover all 3D space, like the calibration dance.
Finally validate the last step and save your calibration.

Thanks, will try tomorrow.

[vzoli]

I did all that you adviced plus the aux max align (to be at zero with onboard) and now it flyes like an angel
Thank You.